CN106462996A - Method and device for distortion-free display of area surrounding vehicle - Google Patents

Method and device for distortion-free display of area surrounding vehicle Download PDF

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Publication number
CN106462996A
CN106462996A CN201580024006.5A CN201580024006A CN106462996A CN 106462996 A CN106462996 A CN 106462996A CN 201580024006 A CN201580024006 A CN 201580024006A CN 106462996 A CN106462996 A CN 106462996A
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vehicle
data
reprojection
grid
camera
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CN201580024006.5A
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CN106462996B (en
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M·弗里贝
J·佩措尔德
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Continental Zhixing Germany Co ltd
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Individual
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
    • B60R1/20—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
    • B60R1/22—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle
    • B60R1/23—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle with a predetermined field of view
    • B60R1/27—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle with a predetermined field of view providing all-round vision, e.g. using omnidirectional cameras
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T15/00—3D [Three Dimensional] image rendering
    • G06T15/10—Geometric effects
    • G06T15/20—Perspective computation
    • G06T15/205—Image-based rendering
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T9/00—Image coding
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/698—Control of cameras or camera modules for achieving an enlarged field of view, e.g. panoramic image capture
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/90—Arrangement of cameras or camera modules, e.g. multiple cameras in TV studios or sports stadiums
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
    • B60R2300/10—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used
    • B60R2300/102—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used using 360 degree surveillance camera system
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
    • B60R2300/10—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used
    • B60R2300/105—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used using multiple cameras
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
    • B60R2300/30—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing
    • B60R2300/301—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing combining image information with other obstacle sensor information, e.g. using RADAR/LIDAR/SONAR sensors for estimating risk of collision
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
    • B60R2300/30—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing
    • B60R2300/303—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing using joined images, e.g. multiple camera images
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
    • B60R2300/30—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing
    • B60R2300/304—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing using merged images, e.g. merging camera image with stored images
    • B60R2300/305—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing using merged images, e.g. merging camera image with stored images merging camera image with lines or icons
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
    • B60R2300/30—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing
    • B60R2300/306—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing using a re-scaling of images
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
    • B60R2300/60—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by monitoring and displaying vehicle exterior scenes from a transformed perspective
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
    • B60R2300/60—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by monitoring and displaying vehicle exterior scenes from a transformed perspective
    • B60R2300/607—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by monitoring and displaying vehicle exterior scenes from a transformed perspective from a bird's eye viewpoint
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
    • B60R2300/80—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement
    • B60R2300/806—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement for aiding parking
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
    • B60R2300/80—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement
    • B60R2300/8093—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement for obstacle warning

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  • Engineering & Computer Science (AREA)
  • Multimedia (AREA)
  • Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Geometry (AREA)
  • Computing Systems (AREA)
  • Computer Graphics (AREA)
  • Mechanical Engineering (AREA)
  • Signal Processing (AREA)
  • Traffic Control Systems (AREA)
  • Closed-Circuit Television Systems (AREA)
  • Image Processing (AREA)

Abstract

The invention relates to a camera surround view system for a vehicle, comprising at least one vehicle camera which supplies camera images that are processed by a data processing unit in order to generate an image of the surroundings, said image of the surroundings being displayed on a display unit. The data processing unit re-projects textures, which are detected by the vehicle camera, on an adaptive re-projection surface, which is similar to the area surrounding the vehicle, said re-projection surface being calculated on the basis of sensor data provided by vehicle sensors.

Description

The method and apparatus of undistorted display vehicle-surroundings environment
Technical field
The present invention relates to a kind of method and apparatus of undistorted display vehicle-surroundings environment, especially for outfit panoramic looking-around The road vehicle of camera system.
Background technology
The vehicle being equipped with driver assistance system increasingly increases, and this kind of system is realized travelling mobility offer for driver Support.Wherein part driver assistance system is furnished with panoramic looking-around camera system, can show vehicle-surroundings ring for vehicle driver Border.This kind of panoramic looking-around camera system comprises one or more vehicle-mounted vidicons, in order to shoot and to provide camera review, and by The data processing unit of panoramic looking-around camera system is synthesized the ambient image of vehicle-surroundings.Here, the figure of vehicle-surroundings As being shown on a display unit.The texture information of camera system is thrown by traditional driver assistance system based on video camera Shadow on a static projection plane, such as on one static two-dimentional basal plane or static three-dimensional solid bowl-type face.
But, this kind of system have the shortcomings that one serious, that is, because texture reprojection plane is static it is impossible to correspondingly Reproduce that camera chain is real or approximate real ambient image, so its shown vehicle-surroundings target serious distortion. The target image of the serious distortion forming interference artifact can be shown on the contrary.
Content of the invention
Therefore, the task of the present invention is to provide a kind of apparatus and method of undistorted display vehicle-surroundings environment, thus keeping away The artifact exempting from this kind of distortion shows.
The panoramic looking-around camera system possessing feature described in Patent right requirement 1 by one is completed this by the present invention Task.
Accordingly and for first aspect, the present invention provides a kind of panoramic looking-around camera system for vehicle, this panorama ring Depending on camera system equipped with least vehicle-mounted vidicon, in order to provide camera review, subsequently carried out by data processing unit Process and generate panoramic looking-around image or vehicle-surroundings ambient image, this image shows on the display unit, wherein data processing , in adaptive reprojection plane, this reprojection plane approximation is in car for the texture reprojection that vehicle-mounted vidicon is got by unit Surrounding enviroment and being calculated based on the sensing data that vehicle sensors provide.
According to the present invention, one possible embodiment of panoramic looking-around camera system is, the biography being provided by vehicle sensors Sensor data accurately reflects the surrounding enviroment of vehicle.
According to the present invention, another possible embodiment of panoramic looking-around camera system is that sensing data comprises to park Spacing distance data, radar data, laser radar data, camera data, laser scanning data and/or exercise data.
According to the present invention, another possible embodiment of panoramic looking-around camera system is, adaptive reprojection plane Possesses the grid that can be dynamically adjusted.
According to the present invention, another possible embodiment of panoramic looking-around camera system is that the grid of reprojection plane can Sensing data according to being provided dynamically adjusts.
According to the present invention, another possible embodiment of panoramic looking-around camera system is that the grid of reprojection plane is 3 D stereo grid.
Additionally, a kind of present invention also offers driver assistance system with feature described in Patent right requirement 7.
Say accordingly and from second aspect, the invention provides a kind of built-in driver being integrated with panoramic looking-around camera system Accessory system, wherein this panoramic looking-around camera system equipped with least vehicle-mounted vidicon, in order to provide camera review, with Processed by a data processing unit afterwards and generated panoramic looking-around image, this image is shown on the display unit, wherein data The texture reprojection that vehicle-mounted vidicon is got by processing unit in adaptive reprojection plane, this reprojection plane approximation Calculate in vehicle-surroundings environment and based on the sensing data that vehicle sensors provide.
Additionally, the present invention also provide a kind of have feature described in Patent right requirement 8, be used for undistorted display vehicle The method of surrounding enviroment.
The present invention provides a kind of method of undistorted display vehicle-surroundings environment accordingly, and the method comprises the steps：
Vehicle-surroundings environment is shot by vehicle on-board video camera and produces camera review,
Process generated image and generate vehicle-surroundings ambient image, and
The texture reprojection that vehicle-mounted vidicon is got to be similar to vehicle-surroundings environment, carried based on vehicle sensors For the adaptive reprojection plane that calculates of sensing data on.
In addition the possible embodiment of method involved in the present invention is given in the dependent claims.
Brief description
Additionally, combining drawings described below by the device of involved in the present invention, undistorted display vehicle-surroundings environment and side Method is described further.
Wherein：
Fig. 1 illustrates a width frame circuit diagram, in order to describe the one of a kind of panoramic looking-around camera system involved in the present invention Individual case study on implementation；
Fig. 2 illustrates a width flow chart, in order to describe involved in the present invention, undistorted display vehicle-surroundings environment method A case study on implementation；
Fig. 3 illustrates that one kind of the present invention is preferable to carry out case.
Specific embodiment
As shown in fig. 1, in shown case, panoramic looking-around camera system 1 is equipped with multiple parts.In shown enforcement case In example, equipped with least vehicle-mounted vidicon 2, in order to shoot and to provide camera review, this takes the photograph panoramic looking-around camera system 1 Camera image is processed by the data processing unit 3 of panoramic looking-around camera system 1 and generates vehicle panoramic panoramic view picture or peripheral edge ring Border image.The panoramic looking-around image being generated by data processing unit 3 or vehicle-surroundings ambient image are shown on display unit 4. Data processing unit 3 calculates adaptive reprojection based on the sensing data that the onboard sensor 5 of vehicle is provided and puts down Face.Being calculated to this by reprojection by the texture that the vehicle-mounted vidicon 2 of panoramic looking-around camera system 1 obtains, be similar to car In the adaptive reprojection plane of surrounding enviroment, and thus reduce or eliminate distortion or distortion artifacts.
For example, the sensor 5 shown in Fig. 1 is park spacing distance control or regulation sensor.Additionally, it can also be car Radar sensor in sensor and laser radar sensor.Alternatively possible embodiment is, by other vehicle-mounted pick-ups Machine 2, is especially provided the sensing data for calculating self adaptation reprojection plane by stereo camera or monophonic video camera. Another possible embodiment is to provide sensing data by vehicle laser scanning system.Also has a kind of possible embodiment party Formula is to provide exercise data or structured data by data processing unit 3, in order to calculate reprojection plane.Carried by onboard sensor 5 For sensing data accurately reproduced the target in vehicle-surroundings environment or vehicle-surroundings environment.These targets are probably For example other are located immediately in this car surrounding enviroment, such as in the vehicle in the range of maximum five meters of this car.In addition it is also possible to It is the pedestrian being close to this vehicle process in the range of maximum five meters.
It is preferably provided with adjustable dynamic based on the reprojection plane that sensing data calculates by data processing unit 3 Grid or grid.In a kind of possible embodiment, the grid of this reprojection plane enters according to the sensing data being provided Mobile state adjusts.The grid of reprojection plane is preferably 3 D stereo grid.
This 3 D stereo grid is preferably based on the environmental model of grid, is used for representing vehicle-surroundings environment.Grid should be based on The environmental model implementation principle of lattice is, vehicle-surroundings environment is divided into cell and stores a description for each cell The feature of surrounding enviroment.To such a so-called distribution grid (Belegungsgitter), for example, can deposit for each cell Storage one of " can pass through " and " occupied " classification.In addition to " can pass through ", also can be according to one classification of other characteristic storage, example As a radar energy signal being reflected.In addition to good compressibility, another advantage of this grid is that height is taken out As changing, so it also can merge different types of sensor, such as stereo camera, radar, laser radar or supersonic sensing Device.In addition to being demarcated as " can pass through " and " occupied ", a kind of other or optional cell mode classification is, single grid Height value storage also can be characterized by cell, especially for " occupied " cell representing barrier or target.Highly believe The storage of breath only consumes few additional storage resource and can achieve efficient storage and the transmission of environmental model.Particularly by previous Method description, being corresponding grid cell lattice distribution elevation information in distribution grid, is consequently formed a vehicle-surroundings environment 3 D stereo distribution map, this distribution map will can get optimal use in framework of the present invention.Here, this three-dimensional distribution map also may be used Use as adaptive reprojection plane, the texture that is, reprojection is obtained by vehicle-mounted vidicon on this figure.Preferably by texture It is projected directly on 3 D stereo distribution map or 3 D stereo grid cell lattice.
The reprojection plane being calculated by data processing unit 3 is not static state but dynamic, and can be according to vehicle-mounted biography The current sensor data self-adaptative adjustment that sensor 5 provides.A kind of possible embodiment is that this onboard sensor 5 may include The preposition video camera of monophonic or stereo camera.Additionally, sensor unit 5 also can be equipped with provides the laser radar system of data, Or be equipped with the radar system of surrounding enviroment Transmission System of Radar Data to data processing unit 3.Data processing unit 3 can comprise one Or multi-microprocessor, in order to process sensing data and therefrom to calculate reprojection plane in real time.Obtained by vehicle-mounted vidicon 2 Texture be projected or reprojection calculates to this, in the reprojection plane that is similar to vehicle-surroundings environment.Vehicle-mounted pick-up The display of machine 2 can have different versions.A kind of possible embodiment is, is equipped with four, vehicle not ipsilateral Four vehicle-mounted vidicons 2.Indication vehicle is preferably road vehicle, especially load truck or car.For reducing or eliminating above Described artifact, can be by panoramic looking-around camera system 1 involved in the present invention, by acquired in video camera in camera chain 2 Surrounding enviroment texture reprojection pass through adaptive reprojection plane.By panoramic looking-around shooting system involved in the present invention System 1 can be greatly improved the picture quality of shown vehicle-surroundings environment.With respect to the system using static reprojection surface, the system To the target in vehicle-surroundings environment, for example, stop other vehicles nigh or be in neighbouring personnel, distortion factor during display Relatively low.
Flow chart shown in Fig. 2 depicts a kind of real of method involved in the present invention, undistorted display vehicle-surroundings environment Apply case.
In first step S1, shot the camera review generating vehicle-surroundings environment by vehicle-mounted vidicon 2.For example, by Be arranged on vehicle not ipsilateral multiple stage vehicle-mounted vidicon 2 shoot generate camera review.
Subsequently, process the camera review that these are generated in step s 2, to generate the environment map of vehicle-surroundings environment Picture.A kind of possible embodiment is, as shown in figure 1, being completed to the camera review being generated by a data processing unit 3 Process work.For generating corresponding ambient image, preferably real-time processing camera review.
In further step S3, provided sensing data is provided and calculates a reprojection plane, so In the adaptive reprojection plane afterwards the texture reprojection that vehicle-mounted vidicon gets being calculated to this.This is adaptive Reprojection plane has the grid that can be dynamically adjusted, and it can enter Mobile state adjustment according to the sensing data being provided.Should Grid is preferably 3 D stereo grid.Method shown in Fig. 2 can be come by computer program in a kind of possible embodiment Execution, this program bag contains some computer instructions that can be executed by microprocessor.A kind of possible embodiment is that this program is deposited Storage is on the data carrier or in program storage.
Fig. 3 illustrates a kind of preferred embodiment of the present invention.According in figure, this adaptive reprojection plane is A kind of grid that can be dynamically adjusted.This grid is made up of 4 regions, i.e. " left field " (SektL), " right side area " (SektR), " front region " (SektV) and " rear area " (SektH).Wherein each region can be in back projection distance Personalization is adjusted.Set four parameters for this, i.e. " left side spacing distance " (DistL), " right side spacing distance " (DistR), " rear spacing distance " (DistH) and " front spacing distance " (DistV).By these parameter personalizable ground Adjust the spacing distance between target or barrier and vehicle (6) in each region.Fig. 3 illustrates dynamic grid for this Domain mode or region related change, wherein changes into from defined initial gap distance (solid line) and is recorded by sensor Target interval distance (dotted line).

Claims (15)

1. it is used for the panoramic looking-around camera system (1) of vehicle (6), this panoramic looking-around camera system carries equipped with least one chassis and takes the photograph Camera (2), this vehicle-mounted vidicon provide camera review, the camera review being provided by data processing unit (3) process with Just generate vehicle-surroundings ambient image, this ambient image is shown on display unit (4), wherein data processing unit (3) is by car , in adaptive reprojection plane, this reprojection plane approximation is in vehicle week for the texture reprojection that load video camera (2) gets Surrounding environment and based on being calculated by the sensing data that onboard sensor (5) provides.
2. panoramic looking-around camera system according to claim 1,
Wherein, the surrounding enviroment of vehicle (6) are reflected by the sensing data that onboard sensor (5) provides.
3. panoramic looking-around camera system according to claim 2,
Wherein, sensing data includes park spacing distance data, radar data, laser radar data, camera data, laser Scan data and exercise data.
4. the panoramic looking-around camera system according to any claim in the claims 1 to 3,
Wherein, reprojection plane that calculate, adaptive has the grid that can be dynamically adjusted.
5. panoramic looking-around camera system according to claim 4,
Wherein, the grid of reprojection plane can enter Mobile state adjustment according to the sensing data being provided.
6. the panoramic looking-around camera system according to claim 4 or 5,
Wherein, the grid of reprojection plane is 3 D stereo grid.
7. a kind of driver assistance system for vehicle (6), this driver assistance system is equipped with according to the claims 1 The panoramic looking-around camera system (1) described in any claim in 6.
8. a kind of method of the surrounding enviroment for undistorted display vehicle (6), comprises the steps：
A () generates the camera review of (S1) vehicle-surroundings environment by the vehicle-mounted vidicon (2) of vehicle (6)；
B () processes (S2) generated camera review to generate the ambient image of vehicle-surroundings environment；And
C texture reprojection (S3) that vehicle-mounted vidicon (2) is got by () in adaptive reprojection plane, put down by this reprojection Face is similar to vehicle-surroundings environment and based on being calculated by the sensing data that onboard sensor (5) provides.
9. method according to claim 8,
Wherein, the surrounding enviroment of vehicle (6) are reflected by the sensing data that onboard sensor (5) provides.
10. method according to claim 9,
Wherein, sensing data includes park spacing distance data, radar data, laser radar data, camera data, laser Scan data and exercise data.
11. methods according to any claim in the claims 8 to 10,
Wherein, adaptive reprojection plane has the grid that can be dynamically adjusted.
12. methods according to claim 11,
Wherein, the grid of reprojection plane can enter Mobile state adjustment according to the sensing data being provided.
13. methods according to claim 11 or 12,
Wherein, the grid of reprojection plane is 3 D stereo grid.
14. a kind of have implement according to the computer of the instruction of any claim methods described in the claims 8 to 13 Program.
A kind of 15. vehicles (6) equipped with driver assistance system according to claim 7, especially road vehicle.
CN201580024006.5A 2014-05-08 2015-05-06 Method and device for displaying vehicle surrounding environment without distortion Active CN106462996B (en)

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DE102014208664.7 2014-05-08
DE102014208664.7A DE102014208664A1 (en) 2014-05-08 2014-05-08 METHOD AND DEVICE FOR DISABLING DISPLAYING A VEHICLE ENVIRONMENT ENVIRONMENT
PCT/DE2015/200301 WO2015169316A2 (en) 2014-05-08 2015-05-06 Method and device for the distortion-free display of an area surrounding a vehicle

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